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首页> 外文会议>IEEE International Workshop on Metrology for Aerospace >Large space debris pose acquisition in close-proximity operations
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Large space debris pose acquisition in close-proximity operations

机译：在近距离作业中获取大空间碎片姿势

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This paper presents an innovative template matching technique to perform the pose acquisition of an uncooperative space target, when no prior information is given about the relative position and attitude parameters. Unlike traditional approaches, the algorithm exploits the principal component analysis to restrain the pose search to a 1 Degree-of-Freedom database built on-line. Hence, both the computational effort and the amount of on-board data storage are cut down. Algorithm performance is investigated within a numerical simulation environment reproducing realistic conditions in terms of target configuration and sensor operation. Results demonstrate that the proposed algorithm is able to compute the target pose operating on extremely sparse three-dimensional point clouds (from about 50 to 500 points) provided by a LIDAR system. A success rate of about 95 % has been obtained over a wide range of randomly selected relative attitudes at close range.
机译：本文提出了一种创新的模板匹配技术，可以在不提供有关相对位置和姿态参数的先验信息的情况下执行不合作空间目标的姿态获取。与传统方法不同，该算法利用主成分分析将姿势搜索限制在在线建立的1自由度数据库中。因此，减少了计算量和车载数据存储量。在数值模拟环境中研究了算法性能，该环境在目标配置和传感器操作方面再现了实际条件。结果表明，所提出的算法能够计算由激光雷达系统提供的极稀疏三维点云（约50至500个点）上的目标姿态。在近距离范围内随机选择的相对姿态的广泛范围内，已获得约95％的成功率。

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